Robot and method for traversing vertical obstacles

ABSTRACT

A robot has a robot body on a frame structure, the robot body having at least one enclosed space to hold at least one delivery item. At least one sensing device detects objects along a direction of motion of said robot. The robot has six wheels, where at least two wheels on a side of the frame are connected to each other. The axis of rotation of each wheel is substantially fixed with respect to the robot during forward, rearward, and turning motion of the robot. During transition, via a substantially vertical obstacle, from a first substantially horizontally surface to a second substantially horizontally surface higher than the first substantially horizontally surface, one of the connected wheels causes an upward or a downward force to be applied to the other connected wheel.

RELATED APPLICATIONS

This application is a continuation of International Patent ApplicationNo. PCT/EP2016/076254, filed Oct. 31, 2016, the entire contents of whichare hereby fully incorporated herein by reference for all purposes.Application PCT/EP2016/076254 claims priority from: (i) European PatentApplication No. 15192648.2, filed Nov. 2, 2015; (ii) European PatentApplication No. 15198094.3, filed Dec. 4, 2015; and (iii) InternationalPatent Application No. PCT/EP2016/025047, filed May 25, 2016, the entirecontents of each of which are hereby fully incorporated herein byreference for all purposes.

FIELD

The invention relates to a mobile robot. More particularly, theinvention relates to a mobile robot adapted to traverse generallyvertical obstacles such as curbstones and the like.

INTRODUCTION

Motion in outdoor environment can require traversing obstacles. Whenmoving exclusively on car roads, no major obstacles are traversed.However, movement on pedestrian walkways for example can requirecrossing car roads, which can require traversing vertical obstacles suchas curbstones. Vehicles aiming to travel outdoors, in particular onpedestrian walkways, can comprise a device adapted for climbing verticalobstacles. Such a device can be present for example in wheelchairs, incurb sweeping vehicles, or in off-road vehicles.

U.S. Pat. No. 3,649,981 discloses a road sweeper of the three wheel typehaving forward and rear traveling wheels and adapted for the climbing ofcurbs or dividers onto raised surfaces by the provision of lifter wheelsbodily movable between raised and lowered positions to elevate thevehicle and its traveling wheels for movement onto and off the raisedsurface.

U.S. Pat. No. 4,817,747 describes an all-terrain vehicle having sixwheels with three wheels on each side. Two of the wheels on each sideare mounted on one pivotal bogie, and one wheel is mounted on anotherpivotal bogie, and the bogies are coupled to each other to always assumethe same inclination to the horizontal centerline of the vehicle chassisin all pivotal positions thereof. All wheels are positively driven bygearing which includes gearing in the bogies.

WO patent application 2005/051279 A1 describes an invention related toan electric wheelchair. The inventive wheelchair comprises a frame whichis mounted on two drive shafts that are actuated by electric motors, andtwo climbing mechanisms that tilt in relation to the said shafts.According to the invention, the climbing mechanism enables the chair tomove forward horizontally and to be inclined by tilting the mechanism inrelation to the drive shaft, thereby raising or lowering same in orderto pass over uneven surfaces.

SUMMARY

The present invention is specified in the claims as well as in the belowdescription. Preferred embodiments are particularly specified in thedependent claims and the description of various embodiments.

The present invention is directed to a mobile robot. The robot canparticularly drive autonomously and/or semi-autonomously. It can beadapted to traverse at least generally vertical or vertical obstacles,such as curbstones. It will be understood that also in one, two and/orthree dimension(s) inclined obstacles or bumps can be traversed.

A robot according to the present invention can be a machine, device,unit, assembly, system etc. being able to carry out a series of actionsautomatically and may further be programmable by respective computinghardware and software. One of the actions can be driving, particularlyin autonomous and/or semi-autonomous fashion. Semi-autonomous operationof the robot can mean that a third party, such as an operator, cancontrol the robot by providing commands to the robot to direct the robotalong a path, for example when traversing vertical obstacles. Theoperator can further communicate with people in the immediate proximityof the robot through the microphone and speakers that can be mounted onthe robot.

The robot can comprise a frame structure or undercarriage having a frontend and a back end, and further having a front section, a middle sectionand a back section. The robot can comprise at least one front wheelpositioned in the front section of the robot and extending beyond it inthe front. Further, it can comprise at least one back wheel positionedin the back section of the robot, and at least one middle wheelpositioned in the middle section of the robot. Moreover, at least onefurther wheel positioned either near the front, middle and/or back ofthe structure can be provided, particularly in order to prevent anysevere tilting to the side.

The robot can further comprise a motor-driven device for exerting adownward and/or an upward force with respect to the ground, selectivelyon the at least one middle wheel. The robot can comprise at least twomotors, each of which can be adapted to drive the wheels and/or themotor-driven device.

The robot can comprise also more than the at least four wheels asspecified before. E.g., it can comprise 6 wheels with a pair of wheelsin the front, one pair in the middle and one pair in the rear. However,this is not necessary in order to fulfill the invention, as will befurther understood from the following.

The motor-driven device is adapted so that when the robot encounters avertical obstacle along its direction of movement, a downward and/orupward force can be applied by the motor-driven device through the atleast one middle wheel, to facilitate the traversal of the vehicleacross the vertical obstacle. In case of a pair of middle wheels or morethan that, these wheels can be moved downwardly and/or upwardly. Thiscan be done by any mechanism.

The motor-driven device can be adapted to provide a downward and/orupward force through at least one middle wheel that can be locatedbehind (towards the rear) of the center of mass of the robot.

The motor-driven device can further be adapted to exert a downwardand/or upward force through the at least one back wheel. In case therobot is driving over ground or traversing an obstacle, the downwardmovement of the middle wheel(s) makes the robot tilt around a tiltingaxis that can be perpendicular to the direction of driving. The frontwheel(s) and/or back wheel(s) can further assist this. When the frontwheel(s) touch the vertical or inclined surface of the obstacleits/their traction applied to this surface can help the robot to climbthe obstacle. Preferably, the middle wheel(s) and/or the rear wheel(s)assist the front wheel(s) to maintain touch with this surface. Themiddle wheel(s) and their relative movement further assist to allow thefront wheel and the robot to climb the obstacle and/or to keep thetraction of the front wheel(s) on top and/or behind the obstacle. Thiswill be further described below.

The robot can further comprise a sensing device for sensing obstaclesalong its forward direction of motion. The sensing device comprises atleast one of: ultrasonic sensor, Lidar sensor, optical flow sensor,stereo vision sensor, map-based localization device, bumping sensor,odometry-based sensor and wheel slippage sensor. Also a wheel-basedmodel inter alia taking into consideration the driving but lack ofturning of the wheels can be used.

The sensing device can be adapted to trigger the motor-driven devicesuch that a downward force is applied to at least the middle wheels ofthe robot to facilitate the movement of the front wheels across theobstacles.

The motor-driven device can be further adapted to communicate with thesensing device and apply a downward and/or upward force on at least themiddle wheels based on information from the sensing device.

The motor-driven device can be adapted to alternately apply downwardforce to the middle wheels and the back wheels based on information fromthe sensing device.

The sensing device can comprise means for communicating with a centralprocessing unit, wherein the central processing unit providesinstructions to the motor-driven device based on information receivedfrom the sensing device.

At least one tilting lever (tilting shaft) can be provided connecting atleast one middle and one back wheel, preferably two shafts connectingmiddle and back wheels on each of the left and the right sides of therobot.

The tilting lever can be adapted for at least angular motion in theplane of the robot's wheels in order to apply a downward and/or upwardforce with respect to the ground.

The robot can further comprise at least two middle wheels and two backwheels, wherein the motor-driven device comprises a motor and twotilting levers and wherein one set of wheels comprising at least onemiddle wheel and a back wheel is connected to a first tilting lever, anda second set of at least one middle wheel and a back wheel is connectedto a second shaft, and wherein the first and second tilting levers areconnected to a rear axle at a first and second pivot point on the firstand second tilting levers, respectively.

The tilting lever can rotate freely and/or be actuated by a motor. Thetilting shaft can rotate around a lever bearing (tilting axle) that canbe located between the respective axial centers of rotation of each pairof wheels.

Opposing wheels can also be arranged without being connected to eachother but to the neighboring wheels by the tilting lever. In this case alever turning motor can be arranged for each side of the robot, e.g.tilting the middle wheel and the rear wheel on the same side andassisting climbing.

The tilting lever can rotate or be rotated around the lever bearing byat most 60°, preferably on either side, i.e. clockwise and counterclockwise. More preferably, the tilting lever can be turned around thelever bearing by at most 55°, preferably on either side. Morepreferably, the tilting lever can be turned around the lever bearing byat most 50°, preferably on either side. More preferably, the tiltinglever can be turned around the lever bearing by at most 45°, preferablyon either side. More preferably, the tilting lever can be turned aroundthe lever bearing by at most 40°, preferably on either side. Morepreferably, the tilting lever can be turned around the lever bearing byat most 35°, preferably on either side. More preferably, the tiltinglever can be turned around the lever bearing by at most 30°, preferablyon either side. More preferably, the tilting lever can be turned aroundthe lever bearing by at most 25°, preferably on either side. Morepreferably, the tilting lever can be turned around the lever bearing byat most 20°, preferably on either side.

Accordingly, the invention also provides a robot comprising a frame withat least one front wheel, at least two middle wheels and at least tworear wheels, wherein at least one middle wheel and at least one rearwheel are connected by a tilting lever that is arranged on each ofopposing sides of the frame; and wherein each tilting lever can beturned around a lever bearing located between the respective axialcenters of rotation of each pair of wheels. There can be one pair ofmiddle of back wheels that are arranged on one tilting lever that isarranged on one side of the frame, and another pair of middle and backwheels that are arranged on a second tilting lever that is arranged onor to an opposing side of the frame. The tilting levers can be connectedto respective lever shafts via a lever bearing.

The tilting levers on each side can rotate freely and/or can be actuatedindependently by at least one lever turn motor. During free rotation themotor can be in an unactuated state, thereby damping the tilting of thetilting lever by its resistance. Alternatively or additionally a clutchcan be arranged, disconnecting the lever turn motor from the respectiveturning lever so that tilting can take place without any or lessresistance, particularly when the robot is moving and the respectivemiddle wheel and connected rear wheel can tilt according to thetopography of the ground.

For example, the clutch can be controlled so as to leave the lever turnmotor disconnected when not traversing difficult and/or verticalobstacles, and connect the motor when needed to traverse such obstacles.

The tilting lever would be useful for robot balance and for minimizingvibration and reducing wear during the motion of the robot, for examplewhen the robot is moving across an uneven terrain. The tilting leverscan also facilitate increased traction, by ensuring that the wheelstouch ground when traversing uneven surfaces. Further, when the robot isequipped with cameras for visualization purposes, increased stability isbeneficial. The tilting levers on either side of the robot can also moveindependently, either when the tilting levers move freely around thelever bearing or when the tilting levers are rotated by means of amotor. This way, the configuration of the tilting lever on either sidemay be different during operation of the robot.

The robot may further comprise at least one sensor adapted to sense theabsolute and/or relative angular position of the tilting lever. Thissensor can preferably be a Hall Effect non-contact rotary positionsensor. The sensor can also be any one or a combination of at least onepotentiometer, at least one optical encoder, at least one magneticencoder and/or at least one visual camera-like system.

The sensor adapted to sense the relative angular position of the tiltinglever can be calibrated at the beginning of robot operation, or duringsetup of the robot, preferably by moving the lever to an extremeposition and by calibrating it there. The sensor can be recalibratedwhenever deemed desirable, such as daily, more preferably weekly, morepreferably monthly. In a preferred embodiment, the calibration processcan be automated and performed by the robot itself as part of adiagnostics program.

In another embodiment, the tilting lever can be actuated by a motor. Themotor can engage right from the start of desired rotation of the tiltinglever or after the tilting angle reaches a certain value. This value candepend on the precise task the robot is accomplishing. The motor canengage after receiving particular sensor data from the sensor adapted tosense the angular position of the tilting lever.

In a preferred embodiment, the robot can be adapted to climb obstaclesof up to 5 cm, more preferably up to 8 cm, more preferably up to 10 cm,even more preferably up to 15 cm, even more preferably up to 18 cm, oreven more preferably up to 20 cm, with or without engaging a motordriving the tilting lever.

In a preferred embodiment, the tilting lever can be adapted to rotatefreely until a certain angle, at which point the tilting turn motor isadapted to engage. The tilting turn motor can be adapted to engage afterthe tilting lever has rotated freely for at least 10°, more preferablysuch as at least 15°, more preferably such as at least 20° and even morepreferably such as at least 25°.

In a preferred embodiment, the tilting lever can be adapted to rotatefreely over a range of 25°-45° from one engagement point to the next. Insuch an embodiment, the tilting turn motor can be adapted to engage orto start actuating when the tilting lever reaches an engagement point.

In one embodiment, the robot can be adapted to move over uneven groundwithout engaging the lever turn motor, i.e. simply by rotating thetilting lever freely. Uneven ground can refer to any surface comprisingbumps or holes, such as a walkway comprising cobblestones, lowkerbstones or curbstones, ground comprising plants or stones or rocks,concrete with indentations in the surface and other features leading todepartures from a smooth surface.

The motor-driven device can be adapted for exerting angular force on thefirst and second tilting lever about the first and second pivot points,so as to alternately generate a downward force on the middle wheels andthe back wheels.

The motor-driven device can be further adapted to lift the middlewheels, so that during climbing, their rotational center transientlyextends vertically beyond that of the front wheels', with respect to thevehicle frame or undercarriage.

The motors driving the wheels can be electrical motors. Any kind ofelectrical motors known in the art for driving purposes can be used.

The front wheels can be driven. More preferably all of the wheels can bedriven.

The motor-driven device can comprise at least one piston-driven deviceadapted to drive at least one wheel in a vertical direction with respectto the ground.

The motor-driven device can comprise two piston-driven devices fordriving the middle wheels in a vertical direction with respect toground.

The robot can comprise at least 4 (four) electric motors adapted todrive the wheels, such as with two motors for driving each of the twofront wheels and two motors for driving two sets of middle and backwheels, each of said motors driving at least one middle wheel and a backwheel that is disposed along one side of the robot.

The robot's center of mass can be located between the middle and thefront end of the robot. The robot's center of mass can be locatedbetween the middle of the robot and half of the distance from the middleto the front end of the robot. The center of mass can also comprise anydelivery the robot may transport.

The robot can be adapted for motion in an unstructured outdoorenvironment. The robot can be adapted to traverse vertical obstacles ofa height of about 10 to about 25 cm, such as about 15 to about 20 cm,such as curbstones.

In the present context, a wheel includes tires that are mounted thereon,preferably on the outer rim.

The wheel diameter of a robot can amount to 10-30 cm, preferably 15-25cm, more preferably about 20 cm. Generally, the invention can berealized using combinations of wheels that are of different diameters.The wheels of the robot are in one embodiment of similar dimensions. Thewheels can also be of substantially identical diameter.

The front wheels can protrude in front of the frame structure by 1 to 8cm, preferably by 1 to 6 cm, more preferably by 2 to 5 cm.

The wheels can protrude beneath the frame by at least 5 cm, preferablyat least 6 cm, more preferably by at least 7 cm.

The wheels can comprise pneumatic tires, for example tires made of anatural rubber or caoutchouc compound and/or synthetic rubber. Thewheels can also comprise solid tires. Synthetic rubber can be anysuitable artificial elastomer, such as those synthesized from petroleumbyproducts. Examples of synthetic rubber include styrene-butadienerubbers, which are made from styrene and butadiene. Other syntheticrubbers can be made from isoprene, chloroprene and/or isobutylenemonomers, and can also include isoprene for crosslinking. The wheels canalso comprise silicon tires.

The tires can be essentially smooth, or the tires can be grooved,symmetrically or asymmetrically. The grooves can be of any suitabledepth and orientation, as known to the skilled person. The tires can bestudded. It can also be convenient to change the type of tire dependingon the season or the terrain in which the robot is operating.

The wheels can have a static friction coefficient μ_(s) between thewheels and the obstacle is 0.9-1.1 for dry surface and 0.2-0.4 for wetsurface.

The front wheel(s), the back wheel(s) and the center wheel(s) can bearranged in an undercarriage or frame structure such that the robot issupported by at least two wheels during normal travel along a surface.

The robot can further comprise an enclosed space for holding at leastone delivery, preferably comprising a secure access device for providingaccess to the space. The secure access device comprises a closuremechanism and/or a lid that is controlled by a secure interface.

With a delivery comprised within the robot, the center of mass of thecombination can be located between the middle and the front end of therobot.

The robot can be adapted to traverse at least vertical obstacles, therobot comprising a frame structure having a front end and a back end,the robot comprising at least one pair of front wheels positioned inproximity of the front end of the structure, at least one pair of backwheels positioned towards the back end of the structure and at least onepair of middle wheels positioned in between the front and back wheels.Moreover, at least two motors are provided that are adapted to drive thewheels. At least one pushing device for exerting a downward force withrespect to the ground, selectively on the at least one middle wheel canbe further provided.

A motor, preferably an electrical motor, can drive the pushing device.The pushing device can be adapted such that when the robot encounters avertical obstacle along its direction of movement, the device actuatesat least one pair of middle wheels, to facilitate the traversal of thevehicle across the vertical obstacle, by applying a downward and/orupward force on the middle wheels.

The pushing device can be further adapted to exert a downward and/orupward force through at least one pair of back wheels.

The motor-driven device and/or the pushing device can exertcounteracting force on the middle and back wheels, so that when adownward force is applied to the middle wheels, a counteracting upwardforce is simultaneously applied to the back wheels, and when an upwardforce is applied to the middle wheels, a counteracting downward force issimultaneously applied to the back wheels. The force that is applied tothe wheels by the pushing device can be equal in magnitude.

The robot can comprise a sensing device for sensing obstacles along itsforward direction of motion.

The sensing device can be adapted to trigger the pushing device suchthat a downward force is applied to at least the pair of middle wheelsof the robot to facilitate the movement of the front wheels over theobstacles.

The sensing device can comprise at least one of: ultrasonic sensor,Lidar sensor, optical flow sensor, stereo vision sensor, map-basedlocalization device, bumping sensor, odometry-based sensor and wheelslippage sensor.

The pushing device can be further adapted to communicate with thesensing device and apply a downward and/or upward force on the middlewheels based on information or instructions from the sensing device.

The pushing device can comprise at least one tilting lever connecting atleast one middle and one back wheel, preferably two shafts connectingmiddle and back wheels on each of the left and the right sides of therobot.

The pushing device can be adapted to alternately apply force to themiddle wheels and the back wheels based on information from the sensingdevice.

The sensing device can comprise means for communicating with a centralprocessing unit, and wherein the central processing unit providesinstructions to the pushing device based on information received fromthe sensing device.

The tilting lever can be adapted for at least angular motion in theplane of the robot's wheels in order to apply a downward and/or upwardforce with respect to the ground.

The pushing device can comprise a motor, and wherein the first andsecond tilting levers are connected to a rear axle at a first and secondpivot point on the first and second axles, respectively.

The pushing device can be adapted for exerting angular force on firstand second shafts about the first and second pivot points, so as toalternately generate a downward force on the middle wheels and the backwheels.

The middle and/or back wheels can, during climbing transiently bedisplaced towards or away from the body of the robot. Consider forexample the robot starting to climb an obstacle. The front wheels startclimbing up the obstacle, which means that the body of the robot is nowtilted with respect to the ground on which the middle and back wheelsrest. As a consequence of the middle and back wheels being connected ontilting levers that are mounted on an axis, the middle wheel will moveaway from the body, while the back wheel will move towards the body. Asthe middle wheels start to move up the obstacle, the relative positionof the middle and back is wheels with respect to the body will bereversed, i.e. the middle wheels will move towards the body, and theback wheels away from the body. Accordingly, the pushing device can beadapted to lift the middle wheels, so that during climbing, theirrotational center can transiently extend vertically beyond that of thefront wheels', with respect to the vehicle frame. For example, if thewheels are of similar or identical diameter, the center of the middlewheels will extend vertically beyond that of the front wheels, tomaintain contact with the obstacle being climbed during the climbing. Atthe same time, the rear wheels can be moved away from the body whichfurther supports the moving of the robot's front upwardly.

A mobile robot can be further adapted to traverse vertical obstacleswith a predefined height. The robot can comprise a frame structurehaving a front end and a back end, the robot comprising at least onepair of front wheels positioned in proximity of the front end of thestructure, at least one pair of back wheels positioned towards the backend of the structure and at least one pair of middle wheels positionedin between the front and back wheels. In one embodiment, the wheels ofthe robot have radius r. The maximum allowable distance between thefront and middle wheels can be described by the equation

${d = \frac{{6\; r^{2}} - {3\; {h \cdot r}}}{2\left( {h - r} \right)}},$

where d is the said maximum distance, r is the radius of the wheel and his the predefined height of the vertical obstacle. Accordingly, in oneembodiment, the wheels of the robot have a radius r and the robot canfurther be characterized by a maximum distance d between the at leastone front wheel and the at least one middle wheel measured from therear-most facing point of the at least one front wheel to the front-mostfacing point of the at least one middle wheel of

${d = \frac{{6\; r^{2}} - {3\; {h \cdot r}}}{2\left( {h - r} \right)}},$

where d is the said maximum distance, r is the radius of the wheel and his the predefined height of the vertical obstacle.

The frame structure can comprise an undercarriage that is structured soas to be in vertical proximity of a line connecting the rear-most facingpoint of the at least one front wheel to the front-most facing point ofthe at least one middle wheel.

The middle and back wheels can also have a maximum distance d betweenthe at least one middle wheel and the at least one back wheel measuredfrom the rear-most facing point of the at least one middle wheel to thefront-most facing point of the at least one back wheel defined by

${d = \frac{{6\; r^{2}} - {3\; {h \cdot r}}}{2\left( {h - r} \right)}},$

where d is the said maximum distance, r is the radius of the wheel and his the height of the vertical obstacle to be traversed.

The frame structure can also comprise an undercarriage that isstructured so as to be in vertical proximity of the line connecting therear-most facing point of the at least one middle wheel to thefront-most facing point of the at least one back wheel.

The robot can be adapted to traverse vertical obstacles of at least 18cm height with wheel radius of at least 10 cm and the maximum distancebetween the front and middle wheels and/or the middle and back wheelsmeasured from the rear-most facing point of the front wheel and/ormiddle wheel respectively to the front-most facing point of the middleand/or back wheel of 4 cm.

The robot can further comprise a sensing device for sensing obstaclesalong its forward direction of motion.

The sensing device can be adapted to trigger the pushing device suchthat a downward force is applied to at least the pair of middle wheelsof the robot to facilitate the movement of the front wheels over theobstacles.

The sensing device can comprise means for communicating with a centralprocessing unit, wherein the central processing unit providesinstructions to the pushing device based on information received fromthe sensing device.

The tilting lever can be adapted for at least angular motion in theplane of the robot's wheels in order to apply a downward and/or upwardforce with respect to the ground.

The pushing device can comprise a motor, and wherein the first andsecond tilting levers are connected to a rear axle at a first and secondpivot point on the first and second axles, respectively.

The pushing device can be adapted for exerting angular force on firstand second shafts about the first and second pivot points, so as toalternately generate a downward force on the middle wheels and the backwheels.

The pushing device can be adapted to lift the middle wheels, so thatduring climbing, their rotational center can transiently extendvertically beyond that of the front wheels', with respect to the vehicleframe.

The invention is also directed to a method comprising the steps ofapproaching a vertical obstacle with a mobile robot comprising a framestructure having a front end and a back end, the robot comprising atleast one front wheel positioned in proximity of the front end of thestructure, at least one back wheel positioned in proximity of the backend of the structure, and at least one middle wheel positioned inbetween the front and back wheels, and at least one further wheel eitherin a front, middle and/or back position; wherein the at least one frontwheel, the at least one back wheel and the at least one middle wheel arearranged on the frame structure such that the robot is supported by saidwheels during normal travel along a surface; the robot furthercomprising at least two motors adapted to drive the wheels, and amotor-driven device for exerting a downward force with respect to theground, selectively on at least the at least one middle wheel;

-   -   sensing the vertical obstacle with one or more sensing devices        disposed on the robot;    -   actuating the one or more front wheels with one or more motors        to permit the one or more front wheels to start climbing the        vertical obstacle;    -   actuating the one or more middle and/or back wheels with one or        more motors to provide a forward momentum of the robot and        thereby increase friction between the one or more front wheels        and the vertical obstacle;    -   exerting a downward force on the one or more middle wheels with        the motor-driven device so as to provide a counteracting        vertical force on the one or more front wheels and increase        traction of the middle wheels, thereby facilitating the climbing        of the front wheels;    -   cease applying the downward force on the one or more middle        wheels after the front wheels have reached the top of the        obstacle; and    -   complete climbing of the obstacle through the forward momentum        of the robot generated by actuating the middle and/or back        wheels.

The actuation of front, middle and/or back wheels can be performedsimultaneously. The force applied by the wheels leads to increasedtraction of the front wheels on the curbstone, aiding in the climbing ofthe front wheels.

The front, middle and back wheels can all be actuated as the robotapproaches the vertical obstacle.

The method can further comprise sensing the position of the front wheelson the obstacle by means of the at least one sensing device beforeceasing applying the downward force on the one or more middle wheels.

The motor-driven device can comprise a mechanism for providingalternating downward and upward force on the middle wheels and backwheels, and wherein the method further comprises in the previouslymentioned step of ceasing applying the downward force exerting an upwardforce on the back wheels simultaneously to the exerting a downward forceon the middle wheels, by means of the motor-driven device, and whereinthe method further comprises

-   -   reversing the application of force on the middle and back        wheels, so that a downward force is applied to the back wheels        and an upward force on the middle wheels, to facilitate the        climbing of the middle wheels of the obstacle, and    -   completing climbing of the obstacle through the forward momentum        of the robot generated by actuating the middle and/or back        wheels.

The method can further comprise ceasing applying downward or upwardforce on the middle or back wheels after the sensing device determinesthat the back wheels have reached the top of the obstacle.

A skilled reader will understand, that any method described above orbelow and/or claimed and described as a sequence of steps is notrestrictive in the sense of the order of steps.

Below, further numbered embodiments of the invention will be discussed.

-   -   1. A mobile robot adapted to traverse at least vertical        obstacles, the robot comprising a frame structure having a front        end and a back end, and further having a front section, a middle        section and a back section, the robot comprising        -   (a) at least one front wheel positioned in the front section            of the robot and extending beyond it in the front, at least            one back wheel positioned in the back section of the robot,            and at least one middle wheel positioned in the middle            section of the robot;        -   (b) at least one further wheel positioned either in the            front section, middle section and/or back section of the            structure;    -   and wherein the robot further comprises        -   (c) a motor-driven device for exerting a downward and/or            upward force with respect to the ground, selectively on the            at least one middle wheel; and        -   (d) at least two motors, each of which being adapted to            drive the wheels and/or the motor-driven device.    -   2. A robot according to the previous embodiment, wherein the        motor-driven device is adapted such that when the robot        encounters a vertical obstacle along its direction of movement,        a downward and/or upward force can be applied by the        motor-driven device through the at least one middle wheel, to        facilitate the traversal of the vehicle across the vertical        obstacle.    -   3. A robot according to any of the preceding embodiments,        wherein the motor-driven device is further adapted to exert a        downward and/or upward force through the at least one back        wheel.    -   4. A robot according to any of the preceding embodiments,        wherein the robot further comprises a sensing device for sensing        obstacles along its forward direction of motion.    -   5. A robot according to the previous embodiment, wherein the        sensing device comprises at least one of: ultrasonic sensor,        Lidar sensor, optical flow sensor, stereo vision sensor,        map-based localization device, bumping sensor, odometry-based        sensor and wheel slippage sensor.    -   6. A robot according to the previous two embodiments, wherein        the sensing device is adapted to trigger the motor-driven device        such that a downward force is applied to at least the middle        wheels of the robot to facilitate the movement of the front        wheels across the obstacles.    -   7. A robot according to any one of the previous three        embodiments, wherein the motor-driven device is further adapted        to communicate with the sensing device and apply a downward        and/or upward force on at least the middle wheels based on        information from the sensing device.    -   8. The robot according to the previous embodiment, wherein the        motor driven device is adapted to alternately apply downward        force to the middle wheels and the back wheels based on        information from the sensing device.    -   9. A robot according to the previous embodiment, wherein the        sensing device comprises means for communicating with a central        processing unit, and wherein the central processing unit        provides instructions to the motor-driven device based on        information received from the sensing device.    -   10. A robot according to any one of the preceding embodiments        further comprising at least one tilting lever connecting at        least one middle and one back wheel, preferably two shafts        connecting middle and back wheels on each of the left and the        right sides of the robot.    -   11. A robot according to the preceding embodiment wherein the        tilting lever is adapted for at least angular motion in the        plane of the robot's wheels in order to apply a downward and/or        upward force with respect to the ground.    -   12. A robot according to any of the preceding embodiments,        wherein the robot comprises at least two middle wheels and two        back wheels, wherein the motor-driven device comprises a motor        and two tilting levers and wherein one set of wheels comprising        at least one middle wheel and a back wheel is connected to a        first tilting lever, and a second set of at least one middle        wheel and a back wheel is connected to a second tilting lever,        and wherein the first and second tilting levers are connected to        a rear axle at a first and second pivot point on the first and        second tilting levers, respectively.    -   13. A robot according to the preceding embodiment, wherein the        motor-driven device is adapted for exerting angular force on the        first and second tilting lever about the first and second pivot        points, so as to alternately generate a downward force on the        middle wheels and the back wheels.    -   14. A robot according to any of the preceding embodiments        wherein the motor-driven device is further adapted to lift the        middle wheels, so that during climbing, their rotational center        transiently extends vertically beyond that of the front wheels',        with respect to the vehicle frame.    -   15. A robot according to any of the preceding embodiments        wherein the motor-driven device is further adapted to lift        and/or push down the back wheels, so that when a downward force        is applied to the middle wheels, a counteracting upward force is        simultaneously applied to the back wheels, and when an upward        force is applied to the middle wheels, a counteracting downward        force is simultaneously applied to the back wheels.    -   16. A robot according to any of the preceding embodiments        wherein the motors driving the wheels are electrical motors.    -   17. A robot according to any of the preceding embodiments        wherein the front wheels are driven.    -   18. A robot according to any of the preceding embodiments        wherein all of the wheels are driven.    -   19. A robot according to any of the preceding embodiments        wherein the motor-driven device comprises at least one        piston-driven device adapted to drive at least one wheel in a        vertical direction with respect to the ground.    -   20. The robot according to the previous embodiment, wherein the        motor-driven device comprises two piston-driven devices for        driving the middle wheels in a vertical direction with respect        to ground.    -   21. A robot according to any of the preceding embodiments        comprising at least 4 (four) electric motors adapted to drive        the wheels.    -   22. The robot according to the previous embodiment, comprising        two motors for driving each of two front wheels and two motors        for driving two sets of middle and back wheels, each of said        motors driving at least one middle wheel and a back wheel that        is disposed along one side of the robot.    -   23. A robot according to any of the preceding embodiments        wherein the robot's center of mass is located between the middle        and the front end of the robot.    -   24. A robot according to any of the preceding embodiments        wherein the robot's center of mass is located between the middle        of the robot and half of the distance from the middle to the        front end of the robot.    -   25. A robot according to any of the preceding embodiments        adapted for motion in an unstructured outdoor environment.    -   26. A robot according to any of the preceding embodiments        adapted to traverse vertical obstacles of a height of about 10        to about 25 cm, such as about 15 to about 20 cm, such as        curbstones.    -   27. A robot according to any of the preceding embodiments        wherein the wheel diameter is 10-30 cm, preferably 15-25 cm,        more preferably about 20 cm.    -   28. A robot according to any of the preceding embodiments,        wherein the front wheels protrude in front of the frame        structure by 1 to 8 cm, preferably by 1 to 6 cm, more preferably        by 2 to 5 cm.    -   29. A robot according to any of the preceding embodiments        wherein the wheels protrude beneath the frame by at least 5 cm,        preferably at least 6 cm, more preferably by at least 7 cm.    -   30. A robot according to any of the preceding embodiments        wherein the wheels comprise pneumatic tires made of a caoutchouc        compound and/or synthetic rubber.    -   31. A robot according to any of the preceding embodiments        wherein the static friction coefficient μ_(s) between the wheels        and the obstacle is 0.9-1.1 for dry surface and 0.2-0.4 for wet        surface.    -   32. A robot according to any of the preceding embodiments        wherein the front wheel(s), the back wheel(s) and the center        wheel(s) are arranged on the frame structure such that the robot        is supported by at least two wheels during normal travel along a        surface.    -   33. The robot according to any one of the preceding embodiments,        further comprising an enclosed space for holding at least one        delivery.    -   34. The robot according to the preceding embodiment, further        comprising a secure access device for providing access to the        space.    -   35. The robot according to the preceding embodiment, wherein the        secure access device comprises a closure mechanism that is        controlled by a secure interface.    -   36. A combination of a robot according to any of the preceding        embodiments and a delivery comprised within the robot, wherein        the center of mass of the combination is located between the        middle and the front end of the robot.    -   37. A mobile robot adapted to traverse at least vertical        obstacles, the robot comprising a frame structure having a front        end and a back end, the robot comprising        -   (a) at least one pair of front wheels positioned in            proximity of the front end of the structure, at least one            pair of back wheels positioned towards the back end of the            structure and at least one pair of middle wheels positioned            in between the front and back wheels;        -   (b) at least two motors adapted to drive the wheels; and        -   (c) at least one pushing device for exerting a downward            force with respect to the ground, selectively on the at            least one middle wheel.    -   38. A robot according to embodiment 37 wherein the pushing        device is driven by a motor, preferably an electrical motor.    -   39. A robot according to any of the preceding two embodiments,        wherein the pushing device is adapted such that when the robot        encounters a vertical obstacle along its direction of movement,        a downward and/or upward force can be applied by the device        through at least one pair of middle wheels, to facilitate the        traversal of the vehicle across the vertical obstacle.    -   40. A robot according to any of the preceding three embodiments,        wherein the pushing device is further adapted to exert a        downward and/or upward force through at least one pair of back        wheels.    -   41. A robot according to any of the embodiments 37 to 40,        wherein the robot further comprises a sensing device for sensing        obstacles along its forward direction of motion.    -   42. A robot according to the previous embodiment, wherein the        sensing device is adapted to trigger the pushing device such        that a downward force is applied to at least the pair of middle        wheels of the robot to facilitate the movement of the front        wheels over the obstacles.    -   43. A robot according to any one of the previous two        embodiments, wherein the sensing device comprises at least one        of: ultrasonic sensor, Lidar sensor, optical flow sensor, stereo        vision sensor, map-based localization device, bumping sensor,        odometry-based sensor and wheel slippage sensor.    -   44. A robot according to any one of the previous three        embodiments, wherein the pushing device is further adapted to        communicate with the sensing device and apply a downward and/or        upward force on the middle wheels based on information from the        sensing device.    -   45. A robot according to any one of the embodiments 37 to 44,        wherein the pushing device comprises at least one tilting lever        connecting at least one middle and one back wheel, preferably        two shafts connecting middle and back wheels on each of the left        and the right sides of the robot.    -   46. The robot according to the previous embodiment, wherein the        pushing device is adapted to alternately apply force to the        middle wheels and the back wheels based on information from the        sensing device.    -   47. A robot according to the previous embodiment, wherein the        sensing device comprises means for communicating with a central        processing unit, and wherein the central processing unit        provides instructions to the pushing device based on information        received from the sensing device.    -   48. A robot according to any of the preceding three embodiments        wherein the tilting lever is adapted for at least angular motion        in the plane of the robot's wheels in order to apply a downward        and/or upward force with respect to the ground.    -   49. A robot according to any of the preceding embodiments 46 to        48, wherein the pushing device comprises a motor, and wherein        the first and second tilting levers are connected to a rear axle        at a first and second pivot point on the first and second axles,        respectively.    -   50. A robot according to the preceding embodiment, wherein the        pushing device is adapted for exerting angular force on first        and second shafts about the first and second pivot points, so as        to alternately generate a downward force on the middle wheels        and the back wheels.    -   51. A robot according to any of the preceding embodiments 37 to        50, wherein the pushing device is adapted to lift the middle        wheels, so that during climbing, their rotational center can        transiently extend vertically beyond that of the front wheels',        with respect to the vehicle frame.    -   52. A robot according to any of the preceding embodiments 37 to        51, wherein the pushing device is further adapted to lift and/or        push down the back wheels, so that when a downward force is        applied to the middle wheels, a counteracting upward force is        simultaneously applied to the back wheels, and when an upward        force is applied to the middle wheels, a counteracting downward        force is simultaneously applied to the back wheels.    -   53. A robot according to any of the preceding embodiments 37 to        52 wherein the motors driving the wheels and/or the pushing        device are electrical.    -   54. A robot according to any of the preceding embodiments 37 to        53, wherein the front wheels are driven.    -   55. A robot according to any of the preceding embodiments 37 to        54 comprising at least 4 (four) electric motors adapted to drive        the wheels.    -   56. A robot according to any of the preceding embodiments 37 to        55, wherein the robot's center of mass is located between the        middle and the front end of the robot.    -   57. A robot according to any of the preceding embodiments 37 to        56, wherein the robot's center of mass is located between the        middle of the robot and half of the distance from the middle to        the front end of the robot.    -   58. A robot according to any of the preceding embodiments 37 to        57, adapted for motion in an unstructured outdoor environment.    -   59. A robot according to any of the preceding embodiments 37 to        58, adapted to traverse vertical obstacles of a height of 10-30        cm, preferably 15-25 cm, more preferably about 20 cm.    -   60. A robot according to any one of the preceding embodiments 37        to 59, wherein the pairs of front, middle and back wheels are        connected on respective axles.    -   61. The robot according to the previous embodiment, wherein the        distance between wheels on each of the axles is approximately        equal.    -   62. A robot according to any of the preceding embodiments 37 to        61, wherein the wheel diameter is 10-30 cm, preferably 15-25 cm,        more preferably about 20 cm.    -   63. A robot according to any of the preceding embodiments 37 to        62, wherein the wheels protrude beneath the frame by at least 5        cm, preferably at least 6 cm, more preferably by at least 7 cm.    -   64. A robot according to any of the preceding embodiments 37 to        63, wherein the front wheels protrude in front of the frame        structure by 1 to 8 cm, preferably by 1 to 6 cm, more preferably        by 2 to 5 cm.    -   65. A robot according to any of the preceding embodiments 37 to        64, wherein the wheels comprise pneumatic tires made of a        caoutchouc compound and/or synthetic rubber.    -   66. A robot according to any of the preceding embodiments 37 to        65, wherein the static friction coefficient μ_(s) between the        wheels and the obstacle is 0.9-1.1 for dry surface and 0.2-0.4        for wet surface.    -   67. The robot according to any one of the preceding embodiments        37 to 66, further comprising a space for holding at least one        delivery.    -   68. The robot according to any one of the preceding embodiments        37 to 67, further comprising an enclosed space for holding at        least one delivery.    -   69. The robot according to the preceding embodiment, further        comprising a secure access device for providing access to the        space.    -   70. The robot according to the preceding embodiment, wherein the        secure access device comprises a closure mechanism that is        controlled by a secure interface.    -   71. A combination of a robot according to any of the preceding        embodiments 37 to 70 and a delivery comprised within the robot,        wherein the center of mass of the combination is located between        the middle and the front end of the robot.    -   72. A mobile robot adapted to traverse vertical obstacles with a        predefined height, the robot comprising a frame structure having        a front end and a back end, the robot comprising        -   (a) at least one pair of front wheels positioned in            proximity of the front end of the structure, at least one            pair of back wheels positioned towards the back end of the            structure and at least one pair of middle wheels positioned            in between the front and back wheels;    -   and wherein the said wheels have radius r and are further        characterized by        -   (b) a maximum distance d between the at least one front            wheel and the at least one middle wheel measured from the            rear-most facing point of the at least one front wheel to            the front-most facing point of the at least one middle wheel            is defined by

$d = \frac{{6\; r^{2}} - {3\; {h \cdot r}}}{2\left( {h - r} \right)}$

where d is the said maximum distance, r is the radius of the wheel and his the predefined height of the vertical obstacle.

-   -   73. A robot according to embodiment 72 wherein the frame        structure comprises an undercarriage that is structured so as to        be in vertical proximity of a line connecting the rear-most        facing point of the at least one front wheel to the front-most        facing point of the at least one middle wheel.    -   74. A robot according to any one of the embodiments 72 to 73        wherein the middle and back wheels are further characterized by        a maximum distance d′ between the at least one middle wheel and        the at least one back wheel measured from the rear-most facing        point of the at least one middle wheel to the front-most facing        point of the at least one back wheel defined by

$d^{\prime} = \frac{{6\; r^{2}} - {3\; {h^{\prime} \cdot r}}}{2\left( {h^{\prime} - r} \right)}$

where d′ is the said maximum distance, r is the radius of the wheel andh′ is the height of the vertical obstacle to be traversed.

-   -   75. A robot according to any one of the embodiments 72 to 74        wherein the frame structure comprises an undercarriage that is        structured so as to be in vertical proximity of the line        connecting the rear-most facing point of the at least one middle        wheel to the front-most facing point of the at least one back        wheel.    -   76. The robot according to any one of the embodiments 72 to 75,        adapted to traverse vertical obstacles of at least 18 cm height        with wheel radius of at least 10 cm and the maximum distance        between the front and middle wheels and/or the middle and back        wheels measured from the rear-most facing point of the front        wheel and/or middle wheel respectively to the front-most facing        point of the middle and/or back wheel of 4 cm.    -   77. A robot according to any one of the embodiments 72 to 76        further comprising at least two motors adapted to drive the        wheels.    -   78. A robot according to any one of the embodiments 72 to 77        further comprising at least one pushing device for exerting a        downward force with respect to the ground, selectively on the at        least one middle wheel.    -   79. A robot according to the preceding embodiment wherein the        pushing device is driven by a motor, preferably an electrical        motor.    -   80. A robot according to any of the preceding two embodiments,        wherein the pushing device is adapted such that when the robot        encounters a vertical obstacle along its direction of movement,        a downward and/or upward force can be applied by the device        through at least one pair of middle wheels, to facilitate the        traversal of the vehicle across the vertical obstacle.    -   81. A robot according to any of the preceding three embodiments,        wherein the pushing device is further adapted to exert a        downward and/or upward force through at least one pair of back        wheels.    -   82. A robot according to any of the preceding embodiments 78 to        81, wherein the robot further comprises a sensing device for        sensing obstacles along its forward direction of motion.    -   83. A robot according to the preceding embodiment, wherein the        sensing device is adapted to trigger the pushing device such        that a downward force is applied to at least the pair of middle        wheels of the robot to facilitate the movement of the front        wheels over the obstacles.    -   84. A robot according to any one of the preceding two        embodiments, wherein the sensing device comprises at least one        of: ultrasonic sensor, Lidar sensor, optical flow sensor, stereo        vision sensor, map-based localization device, bumping sensor,        odometry-based sensor and wheel slippage sensor.    -   85. A robot according to any one of the preceding three        embodiments, wherein the pushing device is further adapted to        communicate with the sensing device and apply a downward and/or        upward force on the middle wheels based on information from the        sensing device.    -   86. A robot according to any one of the embodiments 78 to 85,        wherein the pushing device comprises at least one tilting lever        connecting at least one middle and one back wheel, preferably        two shafts connecting middle and back wheels on each of the left        and the right sides of the robot.    -   87. The robot according to the previous embodiment, wherein the        pushing device is adapted to alternately apply force to the        middle wheels and the back wheels based on information from the        sensing device.    -   88. A robot according to the previous embodiment, wherein the        sensing device comprises means for communicating with a central        processing unit, and wherein the central processing unit        provides instructions to the pushing device based on information        received from the sensing device.    -   89. A robot according to any of the preceding three embodiments        wherein the tilting lever is adapted for at least angular motion        in the plane of the robot's wheels in order to apply a downward        and/or upward force with respect to the ground.    -   90. A robot according to any of the preceding embodiments 87 to        89, wherein the pushing device comprises a motor, and wherein        the first and second tilting levers are connected to a rear axle        at a first and second pivot point on the first and second axles,        respectively.    -   91. A robot according to the preceding embodiment, wherein the        pushing device is adapted for exerting angular force on first        and second shafts about the first and second pivot points, so as        to alternately generate a downward force on the middle wheels        and the back wheels.    -   92. A robot according to any of the preceding embodiments 78 to        91, wherein the pushing device is adapted to lift the middle        wheels, so that during climbing, their rotational center can        transiently extend vertically beyond that of the front wheels',        with respect to the vehicle frame.    -   93. A robot according to any of the preceding embodiments 78 to        92, wherein the pushing device is further adapted to lift and/or        push down the back wheels, so that when a downward force is        applied to the middle wheels, a counteracting upward force is        simultaneously applied to the back wheels, and when an upward        force is applied to the middle wheels, a counteracting downward        force is simultaneously applied to the back wheels.    -   94. A robot according to any of the preceding embodiments 77 to        93 wherein the motors driving the wheels and/or the pushing        device are electrical.    -   95. A robot according to any of the preceding embodiments 77 to        94, wherein the front wheels are driven.    -   96. A robot according to any of the preceding embodiments 77 to        95 comprising at least 4 (four) electric motors adapted to drive        the wheels.    -   97. A robot according to any of the preceding embodiments 72 to        96, wherein the robot's center of mass is located between the        middle and the front end of the robot.    -   98. A robot according to any of the preceding embodiments 72 to        97, wherein the robot's center of mass is located between the        middle of the robot and half of the distance from the middle to        the front end of the robot.    -   99. A robot according to any of the preceding embodiments 72 to        98, adapted for motion in an unstructured outdoor environment.    -   100. A robot according to any of the preceding embodiments 72 to        99, adapted to traverse vertical obstacles of a height of 10-30        cm, preferably 15-25 cm, more preferably about 20 cm.    -   101. A robot according to any one of the preceding embodiments        72 to 100, wherein the pairs of front, middle and back wheels        are connected on respective axles.    -   102. The robot according to the previous embodiment, wherein the        distance between wheels on each of the axles is approximately        equal.    -   103. A robot according to any of the preceding embodiments 72 to        102, wherein the wheel diameter is 10-30 cm, preferably 15-25        cm, more preferably about 20 cm.    -   104. A robot according to any of the preceding embodiments 72 to        103, wherein the wheels protrude beneath the frame by at least 5        cm, preferably at least 6 cm, more preferably by at least 7 cm.    -   105. A robot according to any of the preceding embodiments 72 to        104, wherein the front wheels protrude in front of the frame        structure by 1 to 8 cm, preferably by 1 to 6 cm, more preferably        by 2 to 5 cm.    -   106. A robot according to any of the preceding embodiments 72 to        105, wherein the wheels comprise pneumatic tires made of a        caoutchouc compound.    -   107. A robot according to any of the preceding embodiments 72 to        106, wherein the static friction coefficient μ_(s) between the        wheels and the obstacle is 0.9-1.1 for dry surface and 0.2-0.4        for wet surface.    -   108. The robot according to any one of the preceding embodiments        72 to 107, further comprising a space for holding at least one        delivery.    -   109. The robot according to any one of the preceding embodiments        72 to 108, further comprising an enclosed space for holding at        least one delivery.    -   110. The robot according to the preceding embodiment, further        comprising a secure access device for providing access to the        space.    -   111. The robot according to the preceding embodiment, wherein        the secure access device comprises a closure mechanism that is        controlled by a secure interface.    -   112. A combination of a robot according to any of the preceding        embodiments 72 to 111 and a delivery comprised within the robot,        wherein the center of mass of the combination is located between        the middle and the front end of the robot.    -   113. A climbing method comprising        -   (a) approaching a vertical obstacle with a mobile robot            comprising a frame structure having a front end and a back            end, the robot comprising at least one front wheel            positioned in proximity of the front end of the structure,            at least one back wheel positioned in proximity of the back            end of the structure, and at least one middle wheel            positioned in between the front and back wheels, and at            least one further wheel either in a front, middle and/or            back position; wherein the at least one front wheel, the at            least one back wheel and the at least one middle wheel are            arranged on the frame structure such that the robot is            supported by said wheels during normal travel along a            surface; the robot further comprising at least two motors            adapted to drive the wheels, and a motor-driven device for            exerting a downward force with respect to the ground,            selectively on at least the at least one middle wheel;        -   (b) sensing the vertical obstacle with one or more sensing            devices disposed on the robot;        -   (c) actuating the one or more front wheels with one or more            motors to permit the one or more front wheels to start            climbing the vertical obstacle;        -   (d) actuating the one or more middle and/or back wheels with            one or more motors to provide a forward momentum of the            robot and thereby increase friction between the one or more            front wheels and the vertical obstacle;        -   (e) exerting a downward force on the one or more middle            wheels with the motor-driven device so as to provide a            counteracting vertical force on the one or more front wheels            and increase traction of the middle wheels, thereby            facilitating the climbing of the front wheels;        -   (f) ceasing applying the downward force on the one or more            middle wheels after the front wheels have reached the top of            the obstacle; and        -   (g) completing climbing of the obstacle through the forward            momentum of the robot generated by actuating the middle            and/or back wheels.    -   114. The method of embodiment 113, wherein the actuation of        front, middle and/or back wheels is performed simultaneously.    -   115. The method of embodiment 113, wherein the front, middle and        back wheels are all actuated as the robot approaches the        vertical obstacle.    -   116. The method of any one of the embodiments 113 to 115 wherein        the method further includes sensing the position of the front        wheels on the obstacle by means of the at least one sensing        device before ceasing applying the downward force on the one or        more middle wheels.    -   117. The method of any one of the embodiments 113 to 116,        wherein the motor-driven device comprises a mechanism for        providing alternating downward and upward force on the middle        wheels and back wheels, and wherein the method further comprises        in step (e) exerting an upward force on the back wheels        simultaneously to the exerting a downward force on the middle        wheels, by means of the motor-driven device, and wherein the        method further comprises, following step (f):        -   (g) reversing the application of force on the middle and            back wheels, so that a downward force is applied to the back            wheels and an upward force on the middle wheels, to            facilitate the climbing of the middle wheels of the            obstacle, and        -   (h) completing climbing of the obstacle through the forward            momentum of the robot generated by actuating the middle            and/or back wheels.    -   118. The method of embodiment 117, further comprising ceasing        applying downward or upward force on the middle or back wheels        after the sensing device determines that the back wheels have        reached the top of the obstacle.    -   119. The method of any one of the embodiments 113 to 118,        wherein the mobile robot is a robot or combination as described        in any one of the embodiments 1 to 112.    -   120. A mobile robot, particularly according to any one of the        preceding embodiments 1 to 112, comprising        -   (a) a frame with at least one front wheel, at least two            middle wheels and at least two rear wheels;        -   (b) wherein at least one middle wheel and at least one rear            wheel are connected by a tilting lever that is arranged on            each of opposing sides of or to the frame; and        -   (c) wherein each tilting lever can be turned around a lever            bearing located between the respective axial centers of            rotation of each pair of wheels.    -   121. A robot according to embodiment 120 wherein the tilting        lever is adapted to rotate freely until a certain angle is        reached, particularly when the robot encounters uneven ground        along its direction of movement, allowing the robot to traverse        such uneven ground smoothly.    -   122. A robot according to any of the preceding embodiments 120        or 121 wherein the tilting lever can be turned around the lever        bearing by at most 60°, preferably on either side.    -   123. A robot according to any of the preceding embodiments 120        to 122 wherein the tilting lever can be turned around the lever        bearing by at most 55°, preferably on either side.    -   124. A robot according to any one of embodiments 120 to 123        wherein the tilting lever can be turned around the lever bearing        by at most 50°, preferably on either side.    -   125. A robot according to any one of embodiments 120 to 124        wherein the tilting lever can be turned around the lever bearing        by at most 45°, preferably on either side.    -   126. A robot according to any one of embodiments 120 to 125        wherein the tilting lever can be turned around the lever bearing        by at most 40°, preferably on either side.    -   127. A robot according any one of embodiments 120 to 126 wherein        the tilting lever can be turned around the lever bearing by at        most 35°, preferably on either side.    -   128. A robot according to any one of embodiments 120 to 127        wherein the tilting lever can be turned around the lever bearing        by at most 30°, preferably on either side.    -   129. A robot according to any one of embodiments 120 to 128        wherein the tilting lever can be turned around the lever bearing        by at most 25°, preferably on either side.    -   130. A robot according to any one of embodiments 120 to 129        wherein the tilting lever can be turned around the lever bearing        by at most 20°, preferably on either side.    -   131. A robot according to any one of embodiments 120 to 130        further comprising a sensor adapted to sense the absolute and/or        relative angular position of the tilting lever.    -   132. A robot according to embodiment 131 wherein the sensor is        adapted to sense the absolute and/or relative angular position        of the tilting lever is at least one Hall effect non-contact        rotary position sensor.    -   133. A robot according to embodiment 133 wherein the sensor        adapted to sense the absolute and/or relative angular position        of the tilting lever is any one or a combination of at least one        potentiometer, at least one optical encoder, at least one        magnetic encoder and/or at least one visual camera-like system.    -   134. A robot according to any one of embodiments 131, 132 or 133        wherein the sensor is adapted to sense the relative angular        position of the tilting lever is calibrated at the beginning of        operation, preferably by moving the lever to an extreme position        and by calibrating it there.    -   135. A robot according to any one of embodiments 131 to 134,        further comprising a lever turn motor and wherein the lever turn        motor is adapted to start actuating the tilting lever upon        receiving sensor data.    -   136. A robot according the preceding embodiment wherein the        sensor data can comprise tilting angle, force applied to any of        the wheels, visual data, Lidar data and or Hall effect        non-contact rotation sensor data.    -   137. A robot according to any of the embodiments 120 to 136        wherein the tilting lever can rotate freely and/or be actuated        by a lever turn motor.    -   138. A robot according to any one of the embodiments 120 to 137        wherein the tilting levers on each side can be rotate freely        and/or actuated by a lever turn motor independent from each        other.    -   139. A robot according to any one of the embodiments 120 to 138        wherein the tilting levers on each side can rotate freely with        the lever turn motor connected to the tilting levers slightly        resisting the rotation.    -   140. A robot according to any one of the embodiments 120 to 139        wherein the tilting levers on each side can be rotated freely,        the robot further comprising a clutch that can disconnect the        lever turn motor driving the tilting levers.    -   141. A robot according to any of the embodiments 120 to 140        wherein the robot is adapted to climb obstacles of up to 18 cm        by rotating the tilting lever.    -   142. A robot according to any of the embodiments 120 to 141        wherein the tilting lever is adapted to rotate freely until a        particular inclination angle is reached, at which point the        tilting turn motor is adapted to engage, such point being the        engagement point.    -   143. A robot according to the preceding embodiment wherein the        tilting turn motor is adapted to engage after the tilting lever        has rotated freely for at least 10°, more preferably such as at        least 15°, more preferably such as at least 20° and even more        preferably such as at least 25°.    -   144. A robot according to any of the preceding two embodiments        wherein the tilting lever is adapted to rotate freely over a        range of 25°-45° from one engagement point to the next.    -   145. A climbing method of a mobile robot comprising one front        wheel, at least two middle wheels and at least two rear wheels,        wherein the robot can be as described in claims 1-16, said        method consisting of        -   (a) providing a mobile robot comprising a frame with at            least one front wheel, at least two middle wheels and at            least two rear wheels; and        -   (b) connecting the at least one middle wheel and the at            least one rear wheel by a tilting lever that is arranged on            each of the opposing sides of or to the frame, forming a            pair of wheels; and        -   (c) turning the tilting lever around a lever bearing located            between the respective axial centers of rotation of each            pair of wheels when traversing an obstacle.    -   146. A climbing method according to the embodiment 145 further        comprising the steps of        -   (d) engaging at least one lever turn motor once the tilting            lever reaches a certain tilting angle; and        -   (e) exerting a downward force on the middle wheels with a            mechanism driven by the at least one lever turn motor so as            to provide a counteracting vertical force on the one or more            front wheels and increase traction of the middle wheels,            thereby facilitating the climbing of the front wheels; and        -   (f) ceasing exerting the downward force on the one or more            middle wheels after the front wheels have reached the top of            the obstacle; and        -   (g) completing climbing of the obstacle through the forward            momentum of the robot generated by actuating the middle            and/or back wheels.    -   147. The method according to any of the preceding two        embodiments, wherein the front, middle and back wheels are all        actuated as the robot approaches the vertical obstacle.    -   148. The method according to any of the preceding three        embodiments, wherein the method further includes sensing the        position of the front wheels on the obstacle by means of the at        least one sensing device before ceasing applying the downward        force on the one or more middle wheels.

As will be apparent to the skilled person, the method can be realizedusing any robot as described in the foregoing description and thefollowing description of embodiments. In particular, the method can berealized with various configurations of wheel configuration, andmechanisms for actively applying force to the middle and/or back wheels,as described herein.

The above features along with additional details of the invention, aredescribed further in the examples below, which are intended to furtherillustrate the invention but are not intended to limit its scope in anyway.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a perspective view onto a robot embodiment in accordancewith the present invention;

FIG. 2 shows a schematic and exemplifying arrangement of elements inaccordance with the present invention.

FIG. 3 shows an embodiment in accordance with the present inventionbefore, during and after the traversal of a curbstone.

FIG. 4a shows just the wheels of the robot according to one embodimentwith wheels aligned; and

FIG. 4b shows the embodiment according to FIG. 4a indicating themovement of the tilting lever and the attached rear wheels.

FIG. 5a shows a schematic embodiment of elements of the tilting lever inaccordance with the present invention

FIG. 5b shows an inclined embodiment according to FIG. 5 a.

FIG. 5c shows an embodiment of elements of the tilting lever and leverturn motor according to the invention.

DESCRIPTION OF VARIOUS EMBODIMENTS

In the following, exemplary embodiments of the invention will bedescribed, referring to the figures. These examples are provided toprovide further understanding of the invention, without limiting itsscope.

In the following description, a series of features and/or steps aredescribed. The skilled person will appreciate that unless required bythe context, the order of features and steps is not critical for theresulting configuration and its effect. Further, it will be apparent tothe skilled person that irrespective of the order of features and steps,the presence or absence of time delay between steps, can be presentbetween some or all of the described steps.

As used herein, including in the claims, singular forms of terms are tobe construed as also including the plural form and vice versa, unlessthe context indicates otherwise. Thus, it should be noted that as usedherein, the singular forms “a,” “an,” and “the” include pluralreferences unless the context clearly dictates otherwise.

Throughout the description and claims, the terms “comprise”,“including”, “having”, and “contain” and their variations should beunderstood as meaning “including but not limited to”, and are notintended to exclude other components.

The present invention also covers the exact terms, features, values andranges etc. in case these terms, features, values and ranges etc. areused in conjunction with terms such as about, around, generally,substantially, essentially, at least etc. (i.e., “about 3” shall alsocover exactly 3 or “substantially constant” shall also cover exactlyconstant).

The term “at least one” should be understood as meaning “one or more”,and therefore includes both embodiments that include one or multiplecomponents. Furthermore, dependent claims that refer to independentclaims that describe features with “at least one” have the same meaning,both when the feature is referred to as “the” and “the at least one”.

It will be appreciated that variations to the foregoing embodiments ofthe invention can be made while still falling within the scope of theinvention. Alternative features serving the same, equivalent or similarpurpose can replace features disclosed in the specification, unlessstated otherwise. Thus, unless stated otherwise, each feature disclosedrepresents one example of a generic series of equivalent or similarfeatures.

Use of exemplary language, such as “for instance”, “such as”, “forexample” and the like, is merely intended to better illustrate theinvention and does not indicate a limitation on the scope of theinvention unless so claimed. Any steps described in the specificationmay be performed in any order or simultaneously, unless the contextclearly indicates otherwise.

All of the features and/or steps disclosed in the specification can becombined in any combination, except for combinations where at least someof the features and/or steps are mutually exclusive. In particular,preferred features of the invention are applicable to all aspects of theinvention and may be used in any combination.

Reference numerals have just been referred to for reasons of quickerunderstanding and are not intended to limit the scope of the presentinvention in any manner.

FIG. 1 shows one example of a robot 1 in accordance with the invention.As can be seen the robot can comprise a body 2 and a lid 3. Otherconfigurations for different applications are also possible. The robotembodiment shown can be particularly used for the transfer of deliveries(such as mail, groceries, parcels, packages, flowers and/or purchases).For communication reasons further electronics, telecommunicationdevices, computers, sensors etc. or parts thereof can be used. In theembodiment shown an antenna 4 is also shown.

A undercarriage or frame 5 is particularly arranged at the bottom of therobot 1. As can be seen in the embodiment shown 3 sets or pairs ofwheels are provided, one or more front wheels 10, one or more middlewheels 20 and one or more rear wheels 30. The front wheels 10 can besteered and can slightly protrude in front of the body 2. Also otherwheels may be steered. The wheels 10, 20, 30 could also be covered byany kind of shields and/or can be integrated into the body 2.

FIG. 2 shows a schematic sketch only. Reference numerals are providedfor elements on one side only, in case further corresponding elementsare provided on the other side. The front wheels 10 can be driven andcan extend over the front part of the body 2 and/or frame 5 for thereasons described before. A front motor 12 can drive a front axle 11 andthe front wheel 10 being attached. As mentioned before, the front wheels10 can be steered which is not shown. A front control 14 can control thefront motor 12 and can also be connected to a central or intermediaterobot control (not shown). The front wiring 13 can connect the frontcontrol 14 and the front motor 12. The same applies to the other side,i.e. to the other front wheel, front motor and front control (notnumbered). A central motor driving both front wheels 10 can also beprovided, but requires more elements. The arrangement shown can thus bean easier, more reliable and less expensive design.

The middle wheels 20 can be connected by a common middle axle 21 butcould also be driven by individual axles (not shown).

The rear wheels 30 can be connected by a common rear axle 31 but couldalso be driven by individual axles (not shown).

Besides the options mentioned already, an embodiment particularly formoving the middle wheels 20 away from the body and/or frame 5 is shownfor tilting the arrangement of middle wheels 20 and rear wheels 30. Atilting assembly 40 can do this. In the embodiment shown, the middlewheels 20 and the rear wheels 30 are driven together by rear motors 44.Alternatively, a common motor (not shown) could be arranged for drivingall wheels in the middle and in the rear. The motors 44 are driving alever shaft 43 and the rotational movement and/or force will be furtherdelivered to the middle wheels 20 and rear wheels 30 by a mechanism notshown. This mechanism could be any known means for transferring and/orgearing the rotational movement, such as by gear(s), pulley(s), chain(s)etc. or any combination thereof. Alternatively, the motors could also belocated in the wheels or on the axles the wheels are directly connectedto. This can apply to all wheels. A respective rear control 46 cancontrol the rear motor 44 either individually on each side or one rearcontrol 46 could also control the rear motors 44 together. The rearcontrol 46 can also communicate with a central control (not shown).

A tilting lever or tilting shaft 41 or a unit working as a connectionbetween the middle wheels 20 and the rear wheels 30 fixes these wheelsin relation to each other. The tilting lever 41 can be turned and willallow the wheels 20, 30 to be driven and to tilt.

A tilting axle (lever bearing) 42 allows the arrangement of the middlewheels 20 and rear wheels 30 as well as the tilting lever 41 to turn.The tilting axle (lever bearing) 42 can be turned itself by a turningmechanism 47 for transferring and/or gearing a rotational movement, suchas by gear(s), pulley(s), chain(s) etc. or any combination thereof. Therotational movement is provided, when needed, by a turning motor 49driving a turning shaft 48 which will then make the tilting axle (leverbearing) 42 turn over the turning mechanism 47. A turning control 51 isconnected with the turning motor 49 by a turning wiring 50. Again, theturning control 51 and turning wiring 50 may also communicate with amore central control (not shown).

The tilting assembly 40 can just be arranged on one side but also onboth sides. In case it is arranged on one side, the middle wheels 20 andthe rear wheels 30 can be connected by the axes 21 and 31, respectively.

FIG. 3 shall exemplify different situations of climbing an obstacle,such as a curbstone, by the robot 1. For reasons of clarity, referencenumbers are just shown in sketch no. 1. Middle wheels 20 and rear wheels30 are both connected to a tilting lever 41. A curbstone 60 is shownbeing approached by the robot 1. In case of no other sensors, the frontwheels 10 may touch the curbstone. This can initiate the climbing of therobot 1 onto the curbstone, as shown in sketch no. 2. The traction ofthe front wheel onto the curbstone's vertical surface, the movement ofthe middle wheels away from the robot generated by rotational movementof the tilting lever 41, the movement of the rear wheels towards thebody of the robot and/or the forward momentum of the robot, aided by theforce applied by the driven middle and/or rear wheels to keep the frontwheels in contact with the curbstone vertical surface initiate theclimbing of the robot as shown. A motor for driving the tilting lever(not shown) will be turned on at this stage, so as to apply rotationalforce to the tilting lever 41.

When the front wheels are on top of the curbstone, as shown in sketchno. 3, the middle wheels are further moved towards the curbstone by themoving robot 1 until they touch the curbstone 60 as shown in sketch no.4. During this phase, the tilting of the robot is at its maximum, atleast for the curbstone shown. A further tilting may be possible whenclimbing a higher curbstone.

In sketch no. 5, the middle wheels are climbing up the curbstone and thetilting action of the tilting mechanism is reversed, such that themiddle wheels move towards the frame of the robot, while the back wheelsmove away from the robot, driven by the tilting lever 41. It will evenreverse further as is apparent from sketch no. 6. By this action,maximum traction of all wheels and maximum stability of the robot duringclimbing can be obtained.

During further progress of the robot, the tilting assembly will returnback to a neutral position so that the wheels are in one plane orgenerally in one plane again. This is demonstrated in sketch no. 8.During such forward motion, the tilting mechanism is in a neutralposition, and the motor driving the tilting mechanism is generallyswitched off.

It is not necessary to keep all wheels on the ground at all times, andthis may even not be feasible when the robot reaches an obstacle underanother angle than shown in FIG. 3. However, the robot can be designedand programmed to approach obstacles perpendicularly so that a stableand successful climbing of obstacles can be achieved.

FIGS. 4a-4b show a side view of one embodiment of the wheels of therobot wherein two back wheels are arranged on a tilting lever 41 thatsits on a lever shaft (not shown). In FIG. 4a , the wheels 10, 20, 30are all horizontally or essentially horizontally aligned (with respectto ground) on a straight line and the tilting lever 41 is aligned to orparallel to the frame of the robot (not shown). The tilting lever 41 isadapted to rotate around the lever bearing 42 so that the middle wheel20 and the back wheel 30 move ascend or descend, depending on thedirection of rotation. Thus, during clockwise rotation the back wheel 30descends and the center wheel ascends, while the during anticlockwiserotation the movement of the center and back wheels is reversed.

Thus, as shown in FIG. 4b , the tilting lever 41 can rotate by any givenvalue of the angle β, where β=0 when the wheels are horizontallyaligned. The tilting lever 41 can for example be adapted to rotate up to60° in either direction around the lever bearing 42, resulting in anoverall rotation of up to 120°. In a preferred embodiment, the tiltinglever 41 can rotate up to 55° in either direction. In another preferredembodiment, the tilting lever 41 can rotate up to 50° in eitherdirection. In another preferred embodiment, the tilting lever 41 canrotate up to 45° in either direction. In another preferred embodiment,the tilting lever 41 can rotate up to 40° in either direction. Inanother preferred embodiment, the tilting lever 41 can rotate up to 35°in either direction. In another preferred embodiment, the tilting lever41 can rotate up to 30° in either direction. In another preferredembodiment, the tilting lever 41 can rotate up to 25° in eitherdirection. In another preferred embodiment, the tilting lever 41 canrotate up to 20° in either direction.

FIG. 5a shows a schematic embodiment of the inside structure of thetilting lever 41. The tilting gear frame 411 can comprise differentshapes as long as it provides adequate support and flexural strength tofunction as intended. The tilting gear frame 411 can be made from ametal and/or a metal alloy. The tilting gear 412 can be made of the samematerial as the tilting gear frame 411 and can comprise a part of it.The tilting gear teeth 413 can comprise a part of the tilting gear 412and can also be made of the same material. In this way, the tilting gearframe 411, the tilting gear 412 and the tilting gear teeth 412 can allcomprise one solid part of the tilting lever 41. Note that in thepresent embodiment, four tilting gear teeth 413 are shown, but there canbe as well two tilting gear teeth covering a wider radius. The tiltingaxle 42 can be seen protruding from the center of the tilting gear 412.It can be fixed in this position by a mechanism not shown, or simply bythe tilting gear teeth 413. The tilting axle 42 comprises tilting axleteeth 421 also fixed within the tilting gear 412. The tilting gear frame411 is adapted to rotate around the tilting axle 42 along with thetilting axle teeth 421. The tilting gear teeth 413 can rotate freelyalong with the tilting gear frame 411 until they reach the tilting axleteeth 421. This is further shown in FIG. 5 b.

FIG. 5b demonstrates the same schematic embodiment of the insidestructure of the tilting lever 41 as FIG. 5a rotated by an angle β.After such rotation, the tilting gear teeth 413 and the tilting axleteeth 421 are aligned and in contact. Any further rotation in the samedirection can not be performed freely and would require actuating by thelever turn motor 49 (not shown here). A skilled person will understandthat the angle β can be variable and can depend on the desiredapplication. For the mobile robot as described herein, this arrangementis beneficial, since smaller obstacles can be climbed without engagingthe lever turn motor 49. In such a way, the robot can traverseirregularities on the sidewalk of a height such as 5 cm without engagingthe lever turn motor 49. When traversing higher obstacles, such ascurbstones of 15 cm or so, the robot can tilt the tilting lever freely41 until the angle β and then proceed with climbing by engaging thelever turn motor 49. The tilting lever 41 can for example be adapted torotate freely for about 25°-45° from one engagement point all the way tothe next, i.e. for about 12.5°-22.5° from a horizontal position to amaximally inclined position before engaging the motor. In a preferredembodiment, the robot can be adapted to engage the lever turn motor 49past this point. A skilled person will also understand that the inclinedembodiment shown in FIG. 5b can roughly correspond to the inclinedembodiment shown in FIG. 4 b.

FIG. 5c demonstrates a side view of the schematic embodiment of theinside structure of the tilting lever 41 along with some further partsof the tilting mechanism. The tilting gear frame 411 is shown sidewaysalong with the tilting gear 412. In this embodiment, the tilting axle 42can be seen slightly protruding outward from the tilting gear 412. Thelever turn mechanism 47 is shown schematically here and can comprisefurther gears, and/or pulleys. The lever turn shaft 48 connects to thelever turn motor 49 that is adapted to drive the tilting lever 41.

LIST OF REFERENCE NUMERALS

-   1—robot-   2—body-   3—lid-   4—antenna-   5—frame/carriage-   10—front wheel-   11—front axle-   12—front motor-   13—front wiring-   14—front control-   20—middle wheel-   21—middle axle-   30—rear wheel-   31—rear axle-   40—tilting assembly-   41—tilting lever (tilting shaft)-   42—lever bearing-   43—lever shaft-   44—rear motor-   45—rear wiring-   46—rear control-   47—lever turn mechanism-   48—lever turn shaft-   49—lever turn motor-   50—lever turn wiring-   51—lever turn control

We claim:
 1. A robot comprising: (A) a robot body on a frame structure,said robot body having at least one enclosed space; (B) at least onesensing device constructed and adapted to detect objects along adirection of motion of said robot; and (C) six wheel mechanisms,comprising: (C)(1) on a left side of said frame: (i) a left front wheelmechanism including a left front wheel, (ii) a left rear wheel mechanismincluding a left rear wheel, and (iii) a left middle wheel mechanismincluding a left middle wheel and positioned between the left frontwheel and the left rear wheel, and, (C)(2) on a right side of saidframe: (iv) a right front wheel mechanism including a right front wheel,(v) a right rear wheel mechanism including a right rear wheel, and (vi)a right middle wheel mechanism including a right middle wheel,positioned between the right front wheel and the right rear wheel,wherein at least two of the wheel mechanisms on a side of the frame areconnected to each other, wherein, (x) when said robot is standing on ormoving along a substantially horizontal surface, the wheels aresubstantially horizontally aligned with respect to the surface, andwherein, (y) during transition, via at least one substantially verticalobstacle, from a first surface to a second surface higher than saidfirst surface, one of the connected wheel mechanisms causes an upward ordownward force to be applied to the other connected wheel mechanism, andwherein (z) each wheel has an axis of rotation, said axis of rotationsubstantially fixed with respect to the robot during forward, rearward,and turning motion of said robot.
 2. The robot of claim 1, wherein theleft front wheel and the right front wheel are steerable.
 3. The robotof claim 1, wherein at least two of the wheels are driven by individualaxles.
 4. The robot of claim 3, wherein each of the wheels is driven byan individual axle.
 5. The robot of claim 1, wherein at least two of thewheels are individually driven.
 6. The robot of claim 5, wherein the sixwheels are each individually driven.
 7. The robot of claim 1, whereinthe wheels are driven by multiple motors.
 8. The robot of claim 7,wherein at least some of the multiple motors are located on axles. 9.The robot of claim 8, wherein at least some of the multiple motors arelocated in at least some of the wheels.
 10. The robot of claim 1,wherein at least two of said six wheels are attached to correspondingpiston devices.
 11. The robot of claim 10, wherein each of said sixwheels is attached to a corresponding piston device.
 12. The robot ofclaim 11, wherein at least one said piston device is constructed andadapted to drive at least one attached wheel in a vertical directionwith respect to the ground.
 13. The robot of claim 1, wherein at leastsome of the wheels protrude beneath the frame by at least 5 cm.
 14. Therobot of claim 1 wherein the front wheels protrude in front of the frameby 1 cm to 8 cm.
 15. The robot of claim 1, wherein the enclosed space isconstructed and adapted to hold at least one delivery item.
 16. Therobot of claim 1 having a center of mass located between the middle ofthe robot and the front end of the robot.
 17. The robot of claim 1,wherein at least one of the wheel mechanisms comprises a motor-drivendevice adapted to apply at least one of a downward force and an upwardforce through a corresponding at least one wheel, to facilitatetraversal of said at least one substantially vertical obstacle by saidrobot.
 18. The robot of claim 1, wherein said at least one sensingdevice comprises one or more of: a Lidar sensor and a camera system. 19.The robot of claim 1, wherein, during said transition from said firstsurface to said second surface, at least one of the left middle wheeland the right middle wheel is lifted.
 20. The robot of claim 1, whereinsaid upward or downward force applied to the other connected wheelmechanism causes vertical movement of a rotational center of a wheelassociated with the other connected wheel mechanism.
 21. A robotcomprising: (A) a robot body on a frame structure, said robot bodyhaving at least one enclosed space constructed and adapted to hold atleast one delivery item; (B) at least one sensing device to detectobjects along a direction of motion of said robot, wherein said at leastone sensing device comprises one or more of: (i) a Lidar sensor; and(ii) a camera system; and (C) six wheels including: (i) a first frontwheel on a first side of said frame structure, (ii) a first rear wheelon the first side of the frame structure, (v) a first middle wheel, onthe first side of the frame structure and between the first front wheeland the first rear wheel, wherein said first front wheel is on a firstfront axle, said first middle wheel is on a first middle axle, and saidfirst rear wheel is on a first rear axle, and wherein at least twowheels on the first side of the frame are connected to each other, andwherein at least two of said wheels are attached to corresponding pistondevices, and wherein the wheels are driven by multiple motors, andwherein each wheel has an axis of rotation, said axis of rotationsubstantially fixed with respect to the robot during forward, rearward,and turning motion of said robot, and wherein, during transition, via asubstantially vertical obstacle, from a first substantially horizontallysurface to a second substantially horizontally surface higher than saidfirst substantially horizontally surface, one of the connected wheelscauses an upward force or a downward force to be applied to the otherconnected wheel.
 22. The robot of claim 21, wherein least two wheels onthe first side of the frame that are connected to each other aredirectly connected.
 23. The robot of claim 21, wherein, during saidtransition from said first surface to said second surface, said upwardforce or said downward force causes a rotational center of the firstmiddle wheel to be raised.
 24. A method of operating a robot having: (A)a robot body on a frame structure, said robot body having at least oneenclosed space; (B) at least one sensing device constructed and adaptedto detect objects along a direction of motion of said robot; and (C) sixwheel mechanisms, comprising: (C)(1) on a left side of said frame: (i) aleft front wheel mechanism including a left front wheel, (ii) a leftrear wheel mechanism including a left rear wheel, and (iii) a leftmiddle wheel mechanism including a left middle wheel and positionedbetween the left front wheel and the left rear wheel, and (C)(2) on aright side of said frame: (iv) a right front wheel mechanism including aright front wheel, (v) a right rear wheel mechanism including a rightrear wheel, and (vi) a right middle wheel mechanism including a rightmiddle wheel, positioned between the right front wheel and the rightrear wheel, wherein at least two of the wheel mechanisms on a side ofthe frame are connected to each other, the method comprising: (a) movingsaid robot in a forward direction along a first surface; and (b) inresponse to said robot encountering a substantially vertical obstaclebetween said first substantially horizontal surface and a secondsubstantially horizontal surface higher than said first substantiallyhorizontal surface, traversing said substantially vertical obstacle,wherein, during transition, via said obstacle, from said firstsubstantially horizontal surface to said second substantially horizontalsurface, one of the connected wheel mechanisms causes a force to beapplied to the other connected wheel mechanism.
 25. The method of claim24, wherein, when said robot is standing on or moving along asubstantially horizontal surface, the wheels are substantiallyhorizontally aligned with respect to the surface.
 26. The method ofclaim 24, further comprising: (c) turning said robot to change adirection of forward movement of said robot, wherein each wheel has anaxis of rotation, said axis of rotation substantially fixed with respectto the robot during forward, rearward, and turning motion of said robot.27. The method of claim 24, wherein at least one of the connected wheelmechanisms further comprises a motor-driven device, and wherein themethod further comprises: during the traversing of the substantiallyvertical obstacle, applying at least one of a downward force and anupward force to at least one wheel by actuating the motor-driven device.28. The method of claim 24, further comprising: during the traversing ofthe substantially vertical obstacle, causing at least one of said leftmiddle wheel and said right middle wheel to be lifted.